Dynamic model inversion of a soft robot using servo-constraints

First published in
Lecture notes in networks and systems
Number in series
2072
Start Page
199
End Page
211
Citation
22nd Polish Control Conference, PCC 2026
Contribution to Conference
22nd Polish Control Conference, PCC 2026
Publisher DOI
10.1007/978-3-032-32216-6_17
Scopus ID
2-s2.0-105048474002
Publisher
Springer
ISBN of container
978-3-032-32216-6
978-3-032-32215-9
Due to their flexibility, soft robots offer several advantages over their rigid counterparts in applications such as sensitive manipula-tion and human-machine interaction. However, their use in agile tasks is currently limited because dynamic control of soft robots is usually dif-ficult due to large elastic deformations, underactuation, and redundant actuation. The piecewise constant curvature (PCC) model is commonly used for dynamic forward modeling of soft robots. However, analytical inversion of forward dynamics is typically infeasible due to the model’s complexity. For control purposes, though, inverse models are necessary. In this work, we propose obtaining t he inverse dynamic model of a soft robot from the forward dynamic PCC model using the servo-constraint approach. We analyze the system’s internal stability and validate the model using a physical soft robot. Experimental results demonstrate the effectiveness of our approach indynamictrajectorytracking.
Subjects
soft-robotics
control
model inversion
servo constraints
dynamics
multibody dynamics
DDC Class
005: Computer Programming, Programs, Data and Security
600: Technology